#include <gtest/gtest.h>#include "eigen_matrix_compare.h"#include "fcl/narrowphase/distance.h"#include "fcl/narrowphase/detail/traversal/collision_node.h"#include "fcl/narrowphase/detail/gjk_solver_libccd.h"#include "test_fcl_utility.h"#include "fcl_resources/config.h"
Go to the source code of this file.
Functions | |
| GTEST_TEST (FCL_NEGATIVE_DISTANCE, sphere_capsule_ccd) | |
| GTEST_TEST (FCL_NEGATIVE_DISTANCE, sphere_capsule_indep) | |
| GTEST_TEST (FCL_NEGATIVE_DISTANCE, sphere_sphere_ccd) | |
| GTEST_TEST (FCL_NEGATIVE_DISTANCE, sphere_sphere_indep) | |
| GTEST_TEST (FCL_SIGNED_DISTANCE, cylinder_box_ccd) | |
| GTEST_TEST (FCL_SIGNED_DISTANCE, cylinder_sphere1_ccd) | |
| GTEST_TEST (FCL_SIGNED_DISTANCE, RealWorldRegression1) | |
| GTEST_TEST (FCL_SIGNED_DISTANCE, RealWorldRegression10) | |
| GTEST_TEST (FCL_SIGNED_DISTANCE, RealWorldRegression11) | |
| GTEST_TEST (FCL_SIGNED_DISTANCE, RealWorldRegression12) | |
| GTEST_TEST (FCL_SIGNED_DISTANCE, RealWorldRegression13) | |
| GTEST_TEST (FCL_SIGNED_DISTANCE, RealWorldRegression14) | |
| GTEST_TEST (FCL_SIGNED_DISTANCE, RealWorldRegression15) | |
| GTEST_TEST (FCL_SIGNED_DISTANCE, RealWorldRegression16) | |
| GTEST_TEST (FCL_SIGNED_DISTANCE, RealWorldRegression2) | |
| GTEST_TEST (FCL_SIGNED_DISTANCE, RealWorldRegression3) | |
| GTEST_TEST (FCL_SIGNED_DISTANCE, RealWorldRegression4) | |
| GTEST_TEST (FCL_SIGNED_DISTANCE, RealWorldRegression5) | |
| GTEST_TEST (FCL_SIGNED_DISTANCE, RealWorldRegression6) | |
| GTEST_TEST (FCL_SIGNED_DISTANCE, RealWorldRegression7) | |
| GTEST_TEST (FCL_SIGNED_DISTANCE, RealWorldRegression8) | |
| GTEST_TEST (FCL_SIGNED_DISTANCE, RealWorldRegression9) | |
| int | main (int argc, char *argv[]) |
| template<typename S > | |
| void | test_distance_box_box_helper (const Vector3< S > &box1_size, const Transform3< S > &X_WB1, const Vector3< S > &box2_size, const Transform3< S > &X_WB2, const S *expected_distance=nullptr) |
| template<typename S > | |
| void | test_distance_box_box_regression1 () |
| template<typename S > | |
| void | test_distance_box_box_regression2 () |
| template<typename S > | |
| void | test_distance_box_box_regression3 () |
| template<typename S > | |
| void | test_distance_box_box_regression4 () |
| template<typename S > | |
| void | test_distance_box_box_regression5 () |
| template<typename S > | |
| void | test_distance_box_box_regression6 () |
| template<typename S > | |
| void | test_distance_box_box_regression7 () |
| template<typename S > | |
| void | test_distance_box_box_regression_tilted_kissing_contact () |
| template<typename S > | |
| void | test_distance_convex_to_convex1 () |
| template<typename S > | |
| void | test_distance_convex_to_convex2 () |
| template<typename S > | |
| void | test_distance_convex_to_convex3 () |
| template<typename S > | |
| void | test_distance_convex_to_convex4 () |
| template<typename S > | |
| void | test_distance_convex_to_convex5 () |
| template<typename S > | |
| void | test_distance_convex_to_convex6 () |
| template<typename S > | |
| void | test_distance_convex_to_convex7 () |
| template<typename S > | |
| void | test_distance_cylinder_box () |
| template<typename S > | |
| void | test_distance_cylinder_box_helper (S cylinder_radius, S cylinder_length, const Transform3< S > &X_WC, const Vector3< S > &box_size, const Transform3< S > &X_WB) |
| template<typename S > | |
| void | test_distance_cylinder_sphere1 () |
| template<typename S > | |
| void | test_distance_sphere_box_regression1 () |
| template<typename S > | |
| void | test_distance_spherecapsule (GJKSolverType solver_type) |
| template<typename S > | |
| void | test_distance_spheresphere (GJKSolverType solver_type) |
Variables | |
| bool | verbose = false |
Function Documentation
◆ GTEST_TEST() [1/22]
| GTEST_TEST | ( | FCL_NEGATIVE_DISTANCE | , |
| sphere_capsule_ccd | |||
| ) |
Definition at line 1062 of file test_fcl_signed_distance.cpp.
◆ GTEST_TEST() [2/22]
| GTEST_TEST | ( | FCL_NEGATIVE_DISTANCE | , |
| sphere_capsule_indep | |||
| ) |
Definition at line 1066 of file test_fcl_signed_distance.cpp.
◆ GTEST_TEST() [3/22]
| GTEST_TEST | ( | FCL_NEGATIVE_DISTANCE | , |
| sphere_sphere_ccd | |||
| ) |
Definition at line 1054 of file test_fcl_signed_distance.cpp.
◆ GTEST_TEST() [4/22]
| GTEST_TEST | ( | FCL_NEGATIVE_DISTANCE | , |
| sphere_sphere_indep | |||
| ) |
Definition at line 1058 of file test_fcl_signed_distance.cpp.
◆ GTEST_TEST() [5/22]
| GTEST_TEST | ( | FCL_SIGNED_DISTANCE | , |
| cylinder_box_ccd | |||
| ) |
Definition at line 1074 of file test_fcl_signed_distance.cpp.
◆ GTEST_TEST() [6/22]
| GTEST_TEST | ( | FCL_SIGNED_DISTANCE | , |
| cylinder_sphere1_ccd | |||
| ) |
Definition at line 1070 of file test_fcl_signed_distance.cpp.
◆ GTEST_TEST() [7/22]
| GTEST_TEST | ( | FCL_SIGNED_DISTANCE | , |
| RealWorldRegression1 | |||
| ) |
Definition at line 1081 of file test_fcl_signed_distance.cpp.
◆ GTEST_TEST() [8/22]
| GTEST_TEST | ( | FCL_SIGNED_DISTANCE | , |
| RealWorldRegression10 | |||
| ) |
Definition at line 1117 of file test_fcl_signed_distance.cpp.
◆ GTEST_TEST() [9/22]
| GTEST_TEST | ( | FCL_SIGNED_DISTANCE | , |
| RealWorldRegression11 | |||
| ) |
Definition at line 1121 of file test_fcl_signed_distance.cpp.
◆ GTEST_TEST() [10/22]
| GTEST_TEST | ( | FCL_SIGNED_DISTANCE | , |
| RealWorldRegression12 | |||
| ) |
Definition at line 1125 of file test_fcl_signed_distance.cpp.
◆ GTEST_TEST() [11/22]
| GTEST_TEST | ( | FCL_SIGNED_DISTANCE | , |
| RealWorldRegression13 | |||
| ) |
Definition at line 1129 of file test_fcl_signed_distance.cpp.
◆ GTEST_TEST() [12/22]
| GTEST_TEST | ( | FCL_SIGNED_DISTANCE | , |
| RealWorldRegression14 | |||
| ) |
Definition at line 1133 of file test_fcl_signed_distance.cpp.
◆ GTEST_TEST() [13/22]
| GTEST_TEST | ( | FCL_SIGNED_DISTANCE | , |
| RealWorldRegression15 | |||
| ) |
Definition at line 1137 of file test_fcl_signed_distance.cpp.
◆ GTEST_TEST() [14/22]
| GTEST_TEST | ( | FCL_SIGNED_DISTANCE | , |
| RealWorldRegression16 | |||
| ) |
Definition at line 1141 of file test_fcl_signed_distance.cpp.
◆ GTEST_TEST() [15/22]
| GTEST_TEST | ( | FCL_SIGNED_DISTANCE | , |
| RealWorldRegression2 | |||
| ) |
Definition at line 1085 of file test_fcl_signed_distance.cpp.
◆ GTEST_TEST() [16/22]
| GTEST_TEST | ( | FCL_SIGNED_DISTANCE | , |
| RealWorldRegression3 | |||
| ) |
Definition at line 1089 of file test_fcl_signed_distance.cpp.
◆ GTEST_TEST() [17/22]
| GTEST_TEST | ( | FCL_SIGNED_DISTANCE | , |
| RealWorldRegression4 | |||
| ) |
Definition at line 1093 of file test_fcl_signed_distance.cpp.
◆ GTEST_TEST() [18/22]
| GTEST_TEST | ( | FCL_SIGNED_DISTANCE | , |
| RealWorldRegression5 | |||
| ) |
Definition at line 1097 of file test_fcl_signed_distance.cpp.
◆ GTEST_TEST() [19/22]
| GTEST_TEST | ( | FCL_SIGNED_DISTANCE | , |
| RealWorldRegression6 | |||
| ) |
Definition at line 1101 of file test_fcl_signed_distance.cpp.
◆ GTEST_TEST() [20/22]
| GTEST_TEST | ( | FCL_SIGNED_DISTANCE | , |
| RealWorldRegression7 | |||
| ) |
Definition at line 1105 of file test_fcl_signed_distance.cpp.
◆ GTEST_TEST() [21/22]
| GTEST_TEST | ( | FCL_SIGNED_DISTANCE | , |
| RealWorldRegression8 | |||
| ) |
Definition at line 1109 of file test_fcl_signed_distance.cpp.
◆ GTEST_TEST() [22/22]
| GTEST_TEST | ( | FCL_SIGNED_DISTANCE | , |
| RealWorldRegression9 | |||
| ) |
Definition at line 1113 of file test_fcl_signed_distance.cpp.
◆ main()
| int main | ( | int | argc, |
| char * | argv[] | ||
| ) |
Definition at line 1145 of file test_fcl_signed_distance.cpp.
◆ test_distance_box_box_helper()
| void test_distance_box_box_helper | ( | const Vector3< S > & | box1_size, |
| const Transform3< S > & | X_WB1, | ||
| const Vector3< S > & | box2_size, | ||
| const Transform3< S > & | X_WB2, | ||
| const S * | expected_distance = nullptr |
||
| ) |
Definition at line 301 of file test_fcl_signed_distance.cpp.
◆ test_distance_box_box_regression1()
| void test_distance_box_box_regression1 | ( | ) |
Definition at line 357 of file test_fcl_signed_distance.cpp.
◆ test_distance_box_box_regression2()
| void test_distance_box_box_regression2 | ( | ) |
Definition at line 383 of file test_fcl_signed_distance.cpp.
◆ test_distance_box_box_regression3()
| void test_distance_box_box_regression3 | ( | ) |
Definition at line 407 of file test_fcl_signed_distance.cpp.
◆ test_distance_box_box_regression4()
| void test_distance_box_box_regression4 | ( | ) |
Definition at line 431 of file test_fcl_signed_distance.cpp.
◆ test_distance_box_box_regression5()
| void test_distance_box_box_regression5 | ( | ) |
Definition at line 445 of file test_fcl_signed_distance.cpp.
◆ test_distance_box_box_regression6()
| void test_distance_box_box_regression6 | ( | ) |
Definition at line 457 of file test_fcl_signed_distance.cpp.
◆ test_distance_box_box_regression7()
| void test_distance_box_box_regression7 | ( | ) |
Definition at line 481 of file test_fcl_signed_distance.cpp.
◆ test_distance_box_box_regression_tilted_kissing_contact()
| void test_distance_box_box_regression_tilted_kissing_contact | ( | ) |
Definition at line 514 of file test_fcl_signed_distance.cpp.
◆ test_distance_convex_to_convex1()
| void test_distance_convex_to_convex1 | ( | ) |
Definition at line 596 of file test_fcl_signed_distance.cpp.
◆ test_distance_convex_to_convex2()
| void test_distance_convex_to_convex2 | ( | ) |
Definition at line 668 of file test_fcl_signed_distance.cpp.
◆ test_distance_convex_to_convex3()
| void test_distance_convex_to_convex3 | ( | ) |
Definition at line 734 of file test_fcl_signed_distance.cpp.
◆ test_distance_convex_to_convex4()
| void test_distance_convex_to_convex4 | ( | ) |
Definition at line 803 of file test_fcl_signed_distance.cpp.
◆ test_distance_convex_to_convex5()
| void test_distance_convex_to_convex5 | ( | ) |
Definition at line 865 of file test_fcl_signed_distance.cpp.
◆ test_distance_convex_to_convex6()
| void test_distance_convex_to_convex6 | ( | ) |
Definition at line 931 of file test_fcl_signed_distance.cpp.
◆ test_distance_convex_to_convex7()
| void test_distance_convex_to_convex7 | ( | ) |
Definition at line 995 of file test_fcl_signed_distance.cpp.
◆ test_distance_cylinder_box()
| void test_distance_cylinder_box | ( | ) |
Definition at line 257 of file test_fcl_signed_distance.cpp.
◆ test_distance_cylinder_box_helper()
| void test_distance_cylinder_box_helper | ( | S | cylinder_radius, |
| S | cylinder_length, | ||
| const Transform3< S > & | X_WC, | ||
| const Vector3< S > & | box_size, | ||
| const Transform3< S > & | X_WB | ||
| ) |
Definition at line 221 of file test_fcl_signed_distance.cpp.
◆ test_distance_cylinder_sphere1()
| void test_distance_cylinder_sphere1 | ( | ) |
Definition at line 170 of file test_fcl_signed_distance.cpp.
◆ test_distance_sphere_box_regression1()
| void test_distance_sphere_box_regression1 | ( | ) |
Definition at line 560 of file test_fcl_signed_distance.cpp.
◆ test_distance_spherecapsule()
| void test_distance_spherecapsule | ( | GJKSolverType | solver_type | ) |
Definition at line 122 of file test_fcl_signed_distance.cpp.
◆ test_distance_spheresphere()
| void test_distance_spheresphere | ( | GJKSolverType | solver_type | ) |
Definition at line 51 of file test_fcl_signed_distance.cpp.
Variable Documentation
◆ verbose
| bool verbose = false |
Definition at line 47 of file test_fcl_signed_distance.cpp.